First Advisor

Marek A. Perkowski

Term of Graduation

Spring 1991

Date of Publication

5-22-1991

Document Type

Thesis

Degree Name

Master of Science (M.S.) in Electrical and Computer Engineering

Department

Electrical Engineering

Language

English

Subjects

Image processing -- Digital techniques, Robots

DOI

10.15760/etd.6178

Physical Description

1 online resource (2, ix, 164 pages)

Abstract

The use of visual perception in autonomous mobile systems was approached with caution by mobile robot developers because of the high computational cost and huge memory requirements of most image processing operations. When used, the image processing is implemented on multiprocessors or complex and expensive systems, thereby requiring the robot to be wired or radio controlled from the computer system base.

Hereby developed is a simple, inexpensive and automatic image processing subsystem that is completely implementable on a PC-386SX with 640K base memory. The subsystem will serve as the front end of the vision system for the PSUBOT, an autonomous wheelchair robot currently being developed in the Department of Electrical Engineering, Portland State University. The low to medium level image processing of indoor scene images yields a compact scene description that will be used by the scene analysis and recognition subsystem to allow the robot to initially "learn" its environment and later recognize or confirm its bearings in the known environment.

Rights

In Copyright. URI: http://rightsstatements.org/vocab/InC/1.0/ This Item is protected by copyright and/or related rights. You are free to use this Item in any way that is permitted by the copyright and related rights legislation that applies to your use. For other uses you need to obtain permission from the rights-holder(s).

Comments

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Persistent Identifier

https://archives.pdx.edu/ds/psu/25078

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